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addInertialFrame

Define new inertial frame in robot scenario

    Description

    addInertialFrame(scenario,base,name,position,orientation) adds a new inertial frame to the robot scenario by specifying the base, name, position, and orientation of the new inertial frame.

    example

    addInertialFrame(scenario,base,name,tform) adds a new inertial frame to the robot scenario by specifying the base, name, and transformation matrix of the new inertial frame.

    Examples

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    Create a robot scenario. By default, the inertial frames are the ENU and the NED frames.

    scenario = robotScenario
    scenario = 
      robotScenario with properties:
    
               UpdateRate: 10
                 StopTime: Inf
        HistoryBufferSize: 100
        ReferenceLocation: [0 0 0]
             MaxNumFrames: 50
              CurrentTime: 0
                IsRunning: 0
            TransformTree: [1x1 transformTree]
           InertialFrames: ["ENU"    "NED"]
                   Meshes: {}
                Platforms: [0x0 robotPlatform]
    
    

    Add a new inertial frame named robot to the scenario.

    addInertialFrame(scenario,"ENU","robot",eul2tform([pi/4 0 0]))

    You can now use the robot frame as a reference frame to define other objects in the scenario.

    scenario.InertialFrames
    ans = 1x3 string
        "ENU"    "NED"    "robot"
    
    

    Add plane and box mesh with reference frame in the scenario.

    addMesh(scenario,"Plane",Size=[10 10],Color=[0 1 0])
    addMesh(scenario,"Box",Position=[-2 -2 0.5],ReferenceFrame="robot")

    Visualize the scenario.

    show3D(scenario);

    Figure contains an axes object. The axes object contains 2 objects of type patch.

    Input Arguments

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    Robot scenario, specified as a robotScenario object.

    Base of the new inertial frame, specified as a string scalar. The base frame must be defined in the scenario in advance.

    Example: "ENU"

    Data Types: char | string

    Name of the new inertial frame, specified as a string scalar.

    Example: "newFrame"

    Data Types: char | string

    Position of the new inertial frame with respect to the base frame (specified in the base argument), specified as a 1-by-3 vector in meters.

    Data Types: single | double

    Orientation of the new inertial frame with respect to the base frame (specified in the base argument), specified as a quaternion object or a 1-by-4 quaternion vector. The specified orientation is from the base frame to the new inertial frame.

    Data Types: single | double

    Transformation matrix that maps points in the new frame (specified in the base argument) to the base frame, specified as a 4-by-4 homogeneous transform matrix that maps points in the base frame to the new inertial frame.

    Example: [0 0 1 0; 0 1 0 0; -1 0 0 0; 0 0 0 1]

    Data Types: single | double

    Version History

    Introduced in R2022a